The Lord is my Shepherd round

It is set to a folk-melody (the first part of it is very similar to the French folk-tune used for Immaculate Mary etc). It can be sung either straight through, as a round in three part or as an action song.

A setting of it arranged by American Reformed Church music director Charlotte Larsen was published in 1992 by Faith Alive Christian Resources. But there are various references on the internet to people singing the song at vacation Bible camp or Sunday school - it's likely that the underlying song was spread organically long before the first publication. It appears to be particularly popular with Latter Day Saints, Lutheran and Baptist children's ministries.